Dynamics Simulation of Upper Limb Rehabilitation Robot Driven Based on Pneumatic Muscles
In response to the current complex structure of exoskeleton robots and the low safety of human-machine interaction,combined with the lightweight,high driving force,high flexibility,and close to human muscle characteristics of pneumatic artificial muscles in the driving system,a exoskele-ton upper limb rehabilitation robot based on pneumatic muscles is proposed.Firstly,the Monte Carlo method is used to obtain the safe workspace of the robot,and the dynamics of the exoskeleton upper limb rehabilitation robot is modeled based on the Lagrange equation.Secondly,the dynamic characteris-tics of the upper limb rehabilitation robot are simulated using MATLAB software.
万方数据
维普
